CN114667436A - Method and device for operating an automated vehicle - Google Patents
Method and device for operating an automated vehicle Download PDFInfo
- Publication number
- CN114667436A CN114667436A CN202080077340.8A CN202080077340A CN114667436A CN 114667436 A CN114667436 A CN 114667436A CN 202080077340 A CN202080077340 A CN 202080077340A CN 114667436 A CN114667436 A CN 114667436A
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- determined
- map
- precise
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000004590 computer program Methods 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 claims description 2
- 230000006870 function Effects 0.000 description 13
- 230000004807 localization Effects 0.000 description 3
- 101000693367 Homo sapiens SUMO-activating enzyme subunit 1 Proteins 0.000 description 2
- 102100025809 SUMO-activating enzyme subunit 1 Human genes 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 230000003936 working memory Effects 0.000 description 2
- 235000004522 Pentaglottis sempervirens Nutrition 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000011524 similarity measure Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Images
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3833—Creation or updating of map data characterised by the source of data
- G01C21/3848—Data obtained from both position sensors and additional sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
Abstract
The invention relates to a method (300) and a device for operating an automated vehicle, comprising the following steps: determining (310) a coarse position; detecting (320) an operational state of the automated vehicle; checking (330) whether a precise position can be determined from the rough position on the basis of the operating state; determining (332) a precise location if the precise location can be determined, or providing (334) a signal representative of the precise location not determined if the precise location cannot be determined; and operating (340) the vehicle in dependence on the precise position or in dependence on the signal.
Description
Technical Field
In particular, the invention relates to a method for operating an automated vehicle as a function of a precise position or as a function of a signal which represents that the precise position is not determined.
Disclosure of Invention
The method according to the invention for operating an automated vehicle comprises a step of determining a rough position, a step of detecting an operating state of the automated vehicle, and a step of checking whether a precise position can be determined based on the operating state starting from the rough position. The method further comprises the step of determining a precise position if it can be determined, or providing a signal representing an undetermined precise position if it cannot be determined and the step of operating the vehicle on the basis of the precise position or the signal.
An automated vehicle is understood to be a vehicle constructed according to one of the levels SAE1 to 5 (see standard SAE J3016).
A rough location is understood to represent a location with a certain inaccuracy. For example, the inaccuracy is a few meters and may be up to several hundred meters depending on the surroundings of the automation vehicle (tall buildings, tunnels, etc.). In one embodiment, the rough position is understood to mean, in particular, the following positions: this position is so imprecise that the automated vehicle cannot be operated automatically (according to one of the SAE1 to 5 classes), although this is already provided and/or is desirable, for example, for the occupants of the automated vehicle.
The precise position is understood to be the following: the position is so precise in a predetermined coordinate system, for example WGS84 coordinates, that the position does not exceed a maximum permissible inaccuracy. The greatest inaccuracy here may be a function of the surroundings, for example. Furthermore, the maximum inaccuracy may depend, for example, on whether the automated vehicle is operated manually or partly or highly or fully automatically (corresponding to one of SAE levels 1 to 5). In principle, a low degree of maximum inaccuracy should ensure reliable operation of the automated vehicle in particular. For fully automated operation of an automated vehicle, the maximum inaccuracy is for example in the order of about 10 centimeters.
The operating state of the automated vehicle is understood, for example, as an automation level of the automated vehicle (according to one of SAE levels 1 to 5) and/or as a current speed and/or a current lateral and/or longitudinal acceleration of the automated vehicle and/or as an activated or deactivated driving function (for example, an (adaptive) speed control mechanism, etc.) and/or a light control state (high beam or low beam, etc.) and/or as a further driver assistance system or AD function. The detection of the operating state is understood, for example, to be the reading of one or more controllers which provide a corresponding signal (for example, a high beam is active).
The operation of the automated vehicle is understood to mean, for example, the execution of safety-relevant functions ("emergency response" or triggering of airbags, tightening of safety belts, execution of emergency-dependent parking processes, etc.) and/or the execution of so-called driver assistance functions (here, for example, the execution of lane keeping assistance, etc.) and/or the execution of automated lateral and/or longitudinal control and/or the determination and/or the travel path through the automated vehicle, etc.
The method according to the invention advantageously solves the following tasks: a method for operating a vehicle is provided. This object is achieved by the method according to the invention in that: the vehicle is operated as a function of the precise position or as a function of the signal, it being checked in advance whether a rough position can be assumed and the precise position being determined as a function of the operating state. The following advantages are obtained here: not only is time reduced but also the computational effort reduced, since for example only a relatively small area needs to be examined starting from the coarse position, and the determination of the fine position (since it is located within the area of the coarse position) is performed correspondingly faster (if possible). Furthermore, the precise position is determined only with the precision required depending on the operating state. This also results in a faster and more efficient determination of the precise position. The method thus reduces the resource consumption for determining the precise position overall and enables safer operation of the automated vehicle, since corresponding information can be provided more quickly. A further advantage of the method according to the invention is the improved evaluability of the so-called "map matching performance". From the fleet data (flottendaten) present in the cloud, parameters (e.g., boundary values of the similarity measure) can be determined and applied in a statistical manner.
Preferably, the rough position is determined by means of an environment sensor and/or by means of a positioning system.
An environment sensor system is understood to mean at least one video sensor and/or at least one radar sensor and/or at least one lidar sensor and/or at least one ultrasonic sensor and/or at least one further sensor, which is designed to detect a surroundings of the (automated) vehicle in the form of a surroundings data value, wherein the surroundings comprise, in particular, a locating feature. The locating feature is understood to be, for example, an object (traffic sign, infrastructure feature (guardrail, curve course, tunnel, bridge, etc.), building, etc.) that can be detected and/or classified or associated with the surroundings sensor of the vehicle. In one embodiment, the environment sensor device comprises for this purpose a computing unit (processor, working memory, hard disk) with suitable software, for example, and/or is connected to such a computing unit. In one embodiment, a localization feature is additionally or alternatively understood as, for example, a road course (number of lanes, curve radius, etc.) and/or a pattern of a plurality of, for example, repeating objects (for example, a characteristic sequence of traffic signs, etc.).
A positioning system is understood to be, for example, a Global Navigation Satellite System (GNSS), wherein the system is designed for position determination and navigation on the ground and/or in the air by means of reception of signals of navigation satellites and pseudolites.
Preferably, the coarse position is determined relative to the first map.
The determination of the rough position by means of the surroundings sensor is understood, for example, to be: the localization features detected by means of the environment sensing means, for example a signboard with a road name or a city name, are compared with a map comprising the respective localization feature (see above: the respective road name and/or city name; a characteristic building, etc.). In one embodiment, the map corresponds to a first map, wherein the first map is understood to be a digital map which is present on the storage medium, for example in the form of (map) data values. For example, the map is constructed such that it comprises one or more map layers, wherein one map layer for example displays a bird's eye view (orientation and position of roads, buildings, landscape features, etc.). This corresponds, for example, to a map of the navigation system. The further map layer comprises, for example, a radar map, wherein the locating features contained in the radar map store radar signatures. The further map layer comprises, for example, a lidar map, wherein a lidar signature is stored in a locating feature contained in the lidar map. In particular, the map is designed such that it is suitable for the navigation of a vehicle, in particular of an automated vehicle.
The determination of the rough position relative to the first map is understood to mean, for example, mapping the rough position in the first map, wherein the position is determined, for example, with inaccuracies in the form of an area coverage.
In one embodiment, the rough position is determined by means of an environment sensor and a positioning system by: for example, a first rough position is determined by means of a locating system and then verified for plausibility by means of the detected locating features (for example, by comparing the background color of the traffic sign when the first rough position indicates (nahlegen) driving on a highway with respect to a first map). Next, if the plausibility verification is successful, the first coarse position is determined to be a coarse position.
Preferably, the operating state comprises predefined safety requirements, wherein the precise position is determined according to the predefined safety requirements.
The predefined safety requirement is understood, for example, as a specification for the maximum inaccuracy of the position determination. The safety requirement is provided here, for example, as a signal (when the corresponding function is activated, etc.).
Preferably, the precise position is determined by means of a second map, wherein the second map is selected as a function of the rough position and/or as a function of the operating state.
The second map is understood, for example, as a partial section of the first map, wherein only this partial section is used to determine the exact position. In one embodiment, the second map is understood to be a map that is independent of the first map. The second map is particularly designed in such a way that it is suitable for the navigation of the automated vehicle. For this purpose, the respective map layer comprises, for example, a locating feature with a GPS position, wherein this position is known precisely (in the sense of the above-mentioned precise position).
The device according to the invention is provided for carrying out all the steps of the method according to one of the method claims for operating an automated vehicle.
The device is designed, for example, as a control unit of an automation vehicle and comprises a computing unit (processor, working memory, hard disk) and suitable software for carrying out the method according to one of the method claims. In one embodiment, the device comprises a transmitting and/or receiving unit which is designed to exchange data values, in particular with an external server or with the cloud. In a further embodiment, the device additionally or alternatively comprises a data interface for exchanging data values with a transmitting and/or receiving unit of the automation vehicle.
In an alternative embodiment, the device is designed, for example, as a computing unit (server, cloud, etc.) arranged externally with respect to the automation vehicle. The rough position is determined, for example, by receiving from the automated vehicle the locating features detected by the surroundings sensor of the automated vehicle and comparing them with a map containing the corresponding locating features. For example, the operating state of the automated vehicle is detected by receiving the operating state as a data value from the automated vehicle. The operation of the automation vehicle is understood here to mean, for example, that a signal is provided such that the automation vehicle can recall and/or receive the signal from the device, wherein the signal comprises or represents a rule for operating the automation vehicle.
Furthermore, a computer program is claimed, which comprises instructions which, when executed by a computer, arrange the computer to carry out a method according to one of the method claims for operating an automated vehicle. In one embodiment, the computer program corresponds to software contained in the device.
Furthermore, a machine-readable storage medium having a computer program stored thereon is claimed.
Advantageous refinements of the invention are given in the dependent claims and are listed in the description.
Drawings
Embodiments of the invention are illustrated in the drawings and are explained in more detail in the following description. Shown here are:
fig. 1 shows an embodiment of a method according to the invention for operating a vehicle in the form of a flow chart.
Detailed Description
Modes for carrying out the invention
Fig. 1 shows an embodiment of a method 300 for operating 340 an automated vehicle.
In step 301, the method 300 begins.
In step 310, a coarse location is determined.
In step 320, an operating state of the automated vehicle is detected.
In step 330, it is checked whether a precise position can be determined from the rough position on the basis of the operating state. If the precise location can be determined, step 332 follows, or if the precise location cannot be determined, step 334 follows.
In step 332, the precise location is determined.
In step 334, a signal representative of the undetermined precise location is provided.
In step 340, the vehicle is operated based on the precise location or based on the signal.
In step 350, the method 300 ends.
Claims (8)
1. A method (300) for operating (340) an automated vehicle, comprising:
determining (310) a coarse position;
detecting (320) an operational state of the automated vehicle;
checking (330) whether a precise position can be determined from the rough position on the basis of the operating state; and is provided with
Determining (332) the precise location if the precise location can be determined, or
Providing (334) a signal representative of the precise location not being determined if the precise location cannot be determined; and is
Operating (340) the vehicle as a function of the precise position or as a function of the signal.
2. The method (300) according to claim 1, wherein the coarse position is determined by means of an environment sensing mechanism and/or by means of a positioning system.
3. The method (300) of claim 1 or 2, wherein the coarse location is determined relative to a first map.
4. The method (300) according to claim 1, wherein the operating state comprises a predefined safety requirement, wherein it is checked (330) whether a precise position can be determined according to the predefined safety requirement.
5. The method (300) according to claim 1, characterized in that the precise position is determined (332) by means of a second map, wherein the second map is selected depending on the rough position and/or depending on the operating state.
6. An apparatus set up for performing all the steps of the method (300) according to one of claims 1 to 5.
7. A computer program comprising instructions which, when executed by a computer, arrange the computer to perform the method (300) according to one of claims 1 to 5.
8. A machine-readable storage medium on which a computer program according to claim 7 is stored.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102019213612.5A DE102019213612A1 (en) | 2019-09-06 | 2019-09-06 | Method and device for operating an automated vehicle |
| DE102019213612.5 | 2019-09-06 | ||
| PCT/EP2020/069553 WO2021043478A1 (en) | 2019-09-06 | 2020-07-10 | Method and device for operating an automated vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114667436A true CN114667436A (en) | 2022-06-24 |
Family
ID=71579609
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202080077340.8A Pending CN114667436A (en) | 2019-09-06 | 2020-07-10 | Method and device for operating an automated vehicle |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US20220289241A1 (en) |
| EP (1) | EP4025873A1 (en) |
| JP (1) | JP2022547890A (en) |
| CN (1) | CN114667436A (en) |
| DE (1) | DE102019213612A1 (en) |
| WO (1) | WO2021043478A1 (en) |
Family Cites Families (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2242994A1 (en) * | 2008-02-04 | 2010-10-27 | Tele Atlas North America Inc. | Method for map matching with sensor detected objects |
| EP2793041A1 (en) * | 2013-04-15 | 2014-10-22 | Nederlandse Organisatie voor toegepast -natuurwetenschappelijk onderzoek TNO | Assured vehicle absolute localisation |
| DE102014213171A1 (en) * | 2014-04-09 | 2015-10-15 | Continental Automotive Gmbh | System for autonomous vehicle guidance and motor vehicle |
| DE102014014120A1 (en) * | 2014-09-24 | 2015-04-02 | Daimler Ag | Function release of a highly automated driving function |
| US9483059B2 (en) * | 2014-11-26 | 2016-11-01 | Toyota Motor Engineering & Manufacturing North America, Inc. | Method to gain driver's attention for autonomous vehicle |
| DE102016205433A1 (en) * | 2015-11-25 | 2017-06-14 | Volkswagen Aktiengesellschaft | Method, device, card management device and system for pinpoint localization of a motor vehicle in an environment |
| JP6424845B2 (en) * | 2016-02-03 | 2018-11-21 | 株式会社デンソー | Position correction device, navigation system, and automatic driving system |
| JP6508114B2 (en) * | 2016-04-20 | 2019-05-08 | トヨタ自動車株式会社 | Automatic operation control system of moving object |
| JP6312754B2 (en) * | 2016-08-04 | 2018-04-18 | 三菱電機株式会社 | Vehicle travel control device and vehicle travel control method |
| DE102017205880A1 (en) * | 2017-04-06 | 2018-10-11 | Robert Bosch Gmbh | Method and device for operating an automated vehicle |
| DE102017210138A1 (en) * | 2017-06-16 | 2018-12-20 | Robert Bosch Gmbh | Method and device for sending correction data and for determining a high-precision position of a mobile unit |
| DE102017211887A1 (en) * | 2017-07-12 | 2019-01-17 | Robert Bosch Gmbh | Method and device for locating and automated operation of a vehicle |
| EP3428577A1 (en) * | 2017-07-12 | 2019-01-16 | Veoneer Sweden AB | A driver assistance system and method |
| DE102017214729A1 (en) * | 2017-08-23 | 2019-02-28 | Robert Bosch Gmbh | Method and device for determining a highly accurate position and for operating an automated vehicle |
| JP6780611B2 (en) * | 2017-08-25 | 2020-11-04 | トヨタ自動車株式会社 | Autonomous driving device |
| JP2020034472A (en) * | 2018-08-31 | 2020-03-05 | 株式会社デンソー | Map system, method and storage medium for autonomous navigation |
| CN110928286B (en) * | 2018-09-19 | 2023-12-26 | 阿波罗智能技术(北京)有限公司 | Method, apparatus, medium and system for controlling automatic driving of vehicle |
| DE102019201222A1 (en) * | 2019-01-31 | 2020-08-06 | Robert Bosch Gmbh | Method for determining a position of a vehicle in a digital map |
| EP3693702A1 (en) * | 2019-02-05 | 2020-08-12 | Visteon Global Technologies, Inc. | Method for localizing a vehicle |
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2019
- 2019-09-06 DE DE102019213612.5A patent/DE102019213612A1/en active Pending
-
2020
- 2020-07-10 JP JP2022514711A patent/JP2022547890A/en active Pending
- 2020-07-10 EP EP20739658.1A patent/EP4025873A1/en not_active Withdrawn
- 2020-07-10 WO PCT/EP2020/069553 patent/WO2021043478A1/en unknown
- 2020-07-10 CN CN202080077340.8A patent/CN114667436A/en active Pending
- 2020-07-10 US US17/639,689 patent/US20220289241A1/en not_active Abandoned
Also Published As
| Publication number | Publication date |
|---|---|
| DE102019213612A1 (en) | 2021-03-11 |
| US20220289241A1 (en) | 2022-09-15 |
| EP4025873A1 (en) | 2022-07-13 |
| WO2021043478A1 (en) | 2021-03-11 |
| JP2022547890A (en) | 2022-11-16 |
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